feat(steer): 수동조향 개입 후 해제 대기시간 및 토크 복구시간 설정 파라미터 추가

.gitignore

@@ -1,4 +1,4 @@
-venv/
+pvenv/
 .venv/
 .ci_cache
 .env

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -109,7 +109,8 @@ def apply_steer_angle_limits_physics(desired_sw_deg: float,
                                      wheelbase_m: float,
                                      steer_ratio: float,
                                      steer_sw_max_deg: float,
-                                     model_v2=None) -> float:
+                                     model_v2=None,
+                                     driver_override: bool=False) -> float:
   max_lat_accel = 8.5   # m/s^2
   max_lat_jerk  = 4.0   # m/s^3
   y_std_1s = 0.1
@@ -158,7 +159,7 @@ def apply_steer_angle_limits_physics(desired_sw_deg: float,
   # --- accel clip ---
   cmd_rw = float(np.clip(cmd_rw, -rw_max, rw_max))
 
-  if not lat_active:
+  if not lat_active or driver_override:
     cmd_rw = float(steering_sw_deg) / steer_ratio
 
   cmd_sw = cmd_rw * steer_ratio
@@ -218,6 +219,8 @@ def __init__(self, dbc_names, CP):
     self.camera_scc_params = Params().get_int("HyundaiCameraSCC")
     self.is_ldws_car = Params().get_bool("IsLdwsCar")
     self.enable_corner_radar = 0
+    self.steer_override_release_sec = 0.20
+    self.steer_override_recovery_sec = 0.50
 
     self.steerDeltaUpOrg = self.steerDeltaUp = self.steerDeltaUpLC = self.params.STEER_DELTA_UP
     self.steerDeltaDownOrg = self.steerDeltaDown = self.steerDeltaDownLC = self.params.STEER_DELTA_DOWN
@@ -227,6 +230,8 @@ def update(self, CC, CS, now_nanos):
     if self.frame % 50 == 0:
       params = Params()
       self.max_angle_frames = params.get_int("MaxAngleFrames")
+      self.steer_override_release_sec = params.get_int("SteerOverrideReleaseSec") * 0.01
+      self.steer_override_recovery_sec = params.get_int("SteerOverrideRecoverySec") * 0.01
       steerMax = params.get_int("CustomSteerMax")
       steerDeltaUp = params.get_int("CustomSteerDeltaUp")
       steerDeltaDown = params.get_int("CustomSteerDeltaDown")
@@ -300,6 +305,7 @@ def update(self, CC, CS, now_nanos):
       self.CP.steerRatio,
       self.params.ANGLE_LIMITS.STEER_ANGLE_MAX,
       CS.modelV2,
+      driver_override=CS.out.steeringPressed,
     )
 
 
@@ -367,9 +373,9 @@ def update(self, CC, CS, now_nanos):
       # Once fully recovered, hold full authority until the next driver override.
       torque_delta = 0.0
     elif self.override_latched:
-      # Hold reduced authority until driver torque stays below 60% for 0.2 seconds.
+      # Hold reduced authority until driver torque stays below 60% for configured release delay.
       self.override_release_frames = self.override_release_frames + 1 if torque_ratio < 0.6 else 0
-      if self.override_release_frames >= int(0.2 / DT_CTRL):
+      if self.override_release_frames >= int(self.steer_override_release_sec / DT_CTRL):
         self.override_latched = False
         self.override_release_frames = 0
         recovery_allowed = True
@@ -379,21 +385,24 @@ def update(self, CC, CS, now_nanos):
       recovery_allowed = True
 
     if recovery_allowed:
-      # Use one-second model uncertainty to set the base torque recovery time.
-      # Missing or invalid model data falls back to a moderate 1.5-second recovery.
-      y_std_1s = 0.2
-      if CS.modelV2 is not None and len(CS.modelV2.position.yStd) > 10:
-        model_y_std_1s = float(CS.modelV2.position.yStd[10])
-        if np.isfinite(model_y_std_1s) and model_y_std_1s >= 0.0:
-          y_std_1s = model_y_std_1s
-
-      recovery_time = float(np.interp(y_std_1s, [0.1, 0.2, 0.3, 0.4], [0.5, 0.8, 1.5, 3.0]))
-      recovery_time = max(recovery_time, float(np.interp(
-        self.repeated_override_count,
-        [0, 1, 2, 3],
-        [0.1, 1.0, 2.0, 3.0],
-      )))
-      base_rate_up = (self.angle_max_torque - self.params.ANGLE_MIN_TORQUE) * DT_CTRL / recovery_time
+      if self.steer_override_recovery_sec > 0:
+        recovery_time = self.steer_override_recovery_sec
+      else:
+        # Use one-second model uncertainty to set the base torque recovery time.
+        # Missing or invalid model data falls back to a moderate 1.5-second recovery.
+        y_std_1s = 0.2
+        if CS.modelV2 is not None and len(CS.modelV2.position.yStd) > 10:
+          model_y_std_1s = float(CS.modelV2.position.yStd[10])
+          if np.isfinite(model_y_std_1s) and model_y_std_1s >= 0.0:
+            y_std_1s = model_y_std_1s
+
+        recovery_time = float(np.interp(y_std_1s, [0.1, 0.2, 0.3, 0.4], [0.5, 0.8, 1.5, 3.0]))
+        recovery_time = max(recovery_time, float(np.interp(
+          self.repeated_override_count,
+          [0, 1, 2, 3],
+          [0.1, 1.0, 2.0, 3.0],
+        )))
+      base_rate_up = (self.angle_max_torque - self.params.ANGLE_MIN_TORQUE) * DT_CTRL / max(0.01, recovery_time)
 
       # During recovery, taper the rate to zero. Only steeringPressed can reduce authority.
       torque_delta = base_rate_up * float(np.interp(torque_ratio, [0.6, 0.8], [1.0, 0.0]))

openpilot/common/params_keys.h

@@ -273,6 +273,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SteerActuatorDelay", {PERSISTENT, INT, "0"}},
     {"LatSmoothSec", {PERSISTENT, INT, "13"}},
     {"LatSuspendAngleDeg", {PERSISTENT, INT, "300"}},
+    {"SteerOverrideReleaseSec", {PERSISTENT, INT, "20"}},
+    {"SteerOverrideRecoverySec", {PERSISTENT, INT, "50"}},
     {"CruiseOnDist", {PERSISTENT, INT, "400"}},
 
     {"CruiseMaxVals0", {PERSISTENT, INT, "160"}},

openpilot/selfdrive/carrot_settings.json

@@ -119,6 +119,8 @@
                 "SteerActuatorDelay",
                 "LatSmoothSec",
                 "LatSuspendAngleDeg",
+                "SteerOverrideReleaseSec",
+                "SteerOverrideRecoverySec",
                 "CustomSR",
                 "SteerRatioRate"
               ]
@@ -994,6 +996,38 @@
       "default": 300,
       "unit": 10
     },
+    {
+      "group": "조향튜닝",
+      "name": "SteerOverrideReleaseSec",
+      "title": "수동조향해제대기시간(20)",
+      "descr": "수동 조향 개입 후 손을 뗐을 때 자동 조향 토크 복구를 시작하기까지의 대기시간 (단위: 0.01초, 20 = 0.20초). 값을 낮추면 손을 떼자마자 복구가 바로 시작됩니다.",
+      "egroup": "LAT",
+      "etitle": "Steer Override Release Delay(20)",
+      "edescr": "Delay before starting steering torque recovery after releasing the wheel (unit: 0.01s, 20 = 0.20s). Lower values start recovery immediately.",
+      "cgroup": "转向",
+      "ctitle": "Steer Override Release Delay(20)",
+      "cdescr": "Delay before starting steering torque recovery after releasing the wheel (unit: 0.01s, 20 = 0.20s). Lower values start recovery immediately.",
+      "min": 0,
+      "max": 100,
+      "default": 20,
+      "unit": 1
+    },
+    {
+      "group": "조향튜닝",
+      "name": "SteerOverrideRecoverySec",
+      "title": "수동조향복구시간(50)",
+      "descr": "수동 조향 후 손을 뗐을 때 자동 조향 토크가 100%까지 램프업되는 복구시간 (단위: 0.01초, 50 = 0.50초). 낮출수록 커브길에서 손을 뗀 직후 토크가 멍하지 않고 빠르게 회복됩니다.",
+      "egroup": "LAT",
+      "etitle": "Steer Override Recovery Time(50)",
+      "edescr": "Ramp-up time for steering torque to reach 100% after releasing the wheel (unit: 0.01s, 50 = 0.50s). Lower values recover full torque faster in curves.",
+      "cgroup": "转向",
+      "ctitle": "Steer Override Recovery Time(50)",
+      "cdescr": "Ramp-up time for steering torque to reach 100% after releasing the wheel (unit: 0.01s, 50 = 0.50s). Lower values recover full torque faster in curves.",
+      "min": 0,
+      "max": 300,
+      "default": 50,
+      "unit": 5
+    },
     {
       "group": "크루즈",
       "name": "CruiseOnDist",